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<a href="rectangle__obb_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rectangle__obb_8h.html">collision/narrowphase/rectangle_obb.h</a>&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__decl_8h.html">collision/solvers/fcl/fcl_decl.h</a>&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__transform_8h.html">collision/solvers/fcl/fcl_transform.h</a>&quot;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;fcl/narrowphase/collision_object.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="raytrace__utils_8h.html">collision/raytrace_utils.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a> *</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">   13</a></span>&#160;<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">RectangleOBB::createFCLCollisionGeometry</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> fcl::Box&lt;FCL_PRECISION&gt;(<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">r_x</a>() * 2, <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">r_y</a>() * 2, <a class="code" href="fcl__decl_8h.html#aad95ebc253961dedf89f356c9823fb65">FCL_HEIGHT</a>);</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;}</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">   16</a></span>&#160;<a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">RectangleOBB::createFCLCollisionObject</a>(</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keyword">const</span> std::shared_ptr&lt;<a class="code" href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry&lt;FCL_PRECISION&gt;</a>&gt; &amp;col_geom)<span class="keyword"></span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">    const </span>{</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a>(</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      col_geom, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#ad5d89de64facab23bda12382a793c50e">collision::FCLTransform::fcl_get_3d_rotation_translation</a>(</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                    this-&gt;<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>(), this-&gt;<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">local_x_axis</a>()));</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;}</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">   25</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">RectangleOBB::rayTrace</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                            <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                            std::vector&lt;LineSegment&gt; &amp;intersect)<span class="keyword"> const </span>{</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="classcollision_1_1_line_segment.html">LineSegment</a> ray_segment(point1, point2);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  std::vector&lt;Eigen::Vector2d&gt; inters1;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">false</span>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;segm : <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a>) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    res = segm.intersect(ray_segment, inters1) || res;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a>(point1, point2, inters1, intersect,</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                                           <span class="keyword">this</span>);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;}</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">   41</a></span>&#160;<a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> *<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">RectangleOBB::clone</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">RectangleOBB</a>(*<span class="keyword">this</span>); }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#af6c2d7e4545ed7a7c59f5e80e4a84612">   43</a></span>&#160;<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">RectangleOBB::RectangleOBB</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">RectangleOBB</a> &amp;copy) : <a class="code" href="classcollision_1_1_shape.html">Shape</a>(copy) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a> = copy.<a class="code" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a>();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a> = copy.<a class="code" href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">radius</a>();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a> = copy.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">local_axes</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a> = copy.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">r</a>();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">segments_</a> = copy.<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">segments</a>();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">   51</a></span>&#160;<a class="code" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">RectangleOBB::type</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">type_</a>; }</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">   53</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">RectangleOBB::print</a>(std::ostringstream &amp;stream)<span class="keyword"> const </span>{</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  stream &lt;&lt; <span class="stringliteral">&quot;OBB Rectangle: center: (&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a>() &lt;&lt; <span class="stringliteral">&quot;/&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a>()</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;), r: (&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(0) &lt;&lt; <span class="stringliteral">&quot;|&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(1) &lt;&lt; <span class="stringliteral">&quot;) &quot;</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;         &lt;&lt; <span class="stringliteral">&quot;Local coordinate axes: (&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>(0, 0) &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;         &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>(1, 0) &lt;&lt; <span class="stringliteral">&quot;), (&quot;</span> &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>(0, 1) &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;         &lt;&lt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>(1, 1) &lt;&lt; <span class="stringliteral">&quot;)&quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">   61</a></span>&#160;Eigen::Matrix2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">RectangleOBB::local_axes</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>; }</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">   63</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">RectangleOBB::local_x_axis</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>.col(0);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">   67</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2330ee7b137e45dec9549d3d2e13dd03">RectangleOBB::local_y_axis</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>.col(1);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;}</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">   71</a></span>&#160;Eigen::Vector2d <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">RectangleOBB::r</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>; }</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#ae542035df12cdfaf986251bcd0ba0d8c">   73</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">RectangleOBB::r</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">switch</span> (i) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keywordflow">case</span> 0:</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(0);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">case</span> 1:</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(1);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">throw</span> <span class="stringliteral">&quot;Rectangle_OBB: Not a valid index for r&quot;</span>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  }</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">   84</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">RectangleOBB::r_x</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(0); }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">   86</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">RectangleOBB::r_y</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(1); }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">   88</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">RectangleOBB::set_local_x_axis</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;x_axis) {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>.col(0) = x_axis;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">   93</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">RectangleOBB::set_local_y_axis</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;y_axis) {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>.col(1) = y_axis;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">   98</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">RectangleOBB::set_r_x</a>(<span class="keywordtype">double</span> _r_x) {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(0) = _r_x;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">  103</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">RectangleOBB::set_r_y</a>(<span class="keywordtype">double</span> _r_y) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(1) = _r_y;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a>();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">  108</a></span>&#160;<span class="keywordtype">double</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">RectangleOBB::squareDisToPoint</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;p)<span class="keyword"> const </span>{</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">double</span> sq_dis = 0.0;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  Eigen::Vector2d t = <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">local_axes_</a>.transpose() * (p - <a class="code" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a>);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">if</span> (t(i) &lt; -<a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(i)) {</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      sq_dis += pow(t(i) + <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(i), 2);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (t(i) &gt; <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(i)) {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      sq_dis += pow(t(i) - <a class="code" href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">r_</a>(i), 2);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  }</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordflow">return</span> sq_dis;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">#if ENABLE_SERIALIZER</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">serialize</a> {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;ICollisionObjectExport *exportObject(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a> &amp;);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;serialize::ICollisionObjectExport *RectangleOBB::exportThis(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; 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<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ab0b008668e465f6749c032b07e1f2bc8"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ab0b008668e465f6749c032b07e1f2bc8">collision::RectangleOBB::set_local_x_axis</a></div><div class="ttdeci">void set_local_x_axis(const Eigen::Vector2d &amp;x_axis)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00088">rectangle_obb.cc:88</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a086a8835723ac7259881e1d7b9591d6d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">collision::RectangleOBB::type</a></div><div class="ttdeci">ShapeType type() const</div><div class="ttdoc">Get shape type.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00051">rectangle_obb.cc:51</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html">collision::RectangleOBB</a></div><div class="ttdoc">Oriented rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00016">rectangle_obb.h:16</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ab453849fed42ee9769df87210ca5262d"><div class="ttname"><a href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">collision::Shape::radius_</a></div><div class="ttdeci">double radius_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00072">shape.h:72</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform_html_ad5d89de64facab23bda12382a793c50e"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_transform.html#ad5d89de64facab23bda12382a793c50e">collision::solvers::solverFCL::FCLTransform::fcl_get_3d_rotation_translation</a></div><div class="ttdeci">static fcl::Transform3&lt; FCL_PRECISION &gt; fcl_get_3d_rotation_translation(const Eigen::Vector2d &amp;pos, const Eigen::Vector2d &amp;x_axis)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__transform_8h_source.html#l00036">fcl_transform.h:36</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a1f3b229ecf1b4ac48e7d42ddba508a48"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a1f3b229ecf1b4ac48e7d42ddba508a48">collision::RectangleOBB::createFCLCollisionObject</a></div><div class="ttdeci">fcl::CollisionObject&lt; FCL_PRECISION &gt; * createFCLCollisionObject(const std::shared_ptr&lt; fcl::CollisionGeometry&lt; FCL_PRECISION &gt;&gt; &amp;) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00016">rectangle_obb.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a67cc523022bbc10c1ab236f5698058e5"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a67cc523022bbc10c1ab236f5698058e5">collision::RectangleOBB::local_axes_</a></div><div class="ttdeci">Eigen::Matrix2d local_axes_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00110">rectangle_obb.h:110</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ac0eaf867fc267e1b3fcf33cb1a9fc1d2"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ac0eaf867fc267e1b3fcf33cb1a9fc1d2">collision::RectangleOBB::squareDisToPoint</a></div><div class="ttdeci">double squareDisToPoint(const Eigen::Vector2d &amp;p) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00108">rectangle_obb.cc:108</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a19db3ff83faa7e816a34f95a0e96041d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a19db3ff83faa7e816a34f95a0e96041d">collision::RectangleOBB::segments_</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00112">rectangle_obb.h:112</a></div></div>
<div class="ttc" id="fcl__transform_8h_html"><div class="ttname"><a href="fcl__transform_8h.html">fcl_transform.h</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_geometry_html"><div class="ttname"><a href="classfcl_1_1_collision_geometry.html">fcl::CollisionGeometry</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object_8h_source.html#l00010">i_fcl_collision_object.h:10</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_ad094906ddcf62d4d1dde8ef64fc5f938"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a></div><div class="ttdeci">bool rayTracePostprocess(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; Eigen::Vector2d &gt; inters1, std::vector&lt; LineSegment &gt; &amp;intersect, const collision::CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00112">raytrace_utils.cc:112</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_ex_html_ab080033cf96284d10d0a7950bf2fd595"><div class="ttname"><a href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">collision::CollisionObjectEx::invalidateCollisionEntityCache</a></div><div class="ttdeci">void invalidateCollisionEntityCache(void)</div><div class="ttdef"><b>Definition:</b> <a href="collision__object__ex_8cc_source.html#l00043">collision_object_ex.cc:43</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_ae767114da43f038e805f6bd6aada716b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#ae767114da43f038e805f6bd6aada716b">collision::RectangleOBB::r_y</a></div><div class="ttdeci">double r_y() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00086">rectangle_obb.cc:86</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a3b3854d1ce60d7d9f48955f50f371ecd"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a3b3854d1ce60d7d9f48955f50f371ecd">collision::RectangleOBB::createFCLCollisionGeometry</a></div><div class="ttdeci">fcl::CollisionGeometry&lt; FCL_PRECISION &gt; * createFCLCollisionGeometry(void) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00013">rectangle_obb.cc:13</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_abe7c0bcc2941ee9bd12a1b5830c9985e"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#abe7c0bcc2941ee9bd12a1b5830c9985e">collision::RectangleOBB::set_r_y</a></div><div class="ttdeci">void set_r_y(double _r_y)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00103">rectangle_obb.cc:103</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a357c27f00803a8d358a24ebea1fff74b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a357c27f00803a8d358a24ebea1fff74b">collision::RectangleOBB::r_x</a></div><div class="ttdeci">double r_x() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00084">rectangle_obb.cc:84</a></div></div>
<div class="ttc" id="fcl__decl_8h_html"><div class="ttname"><a href="fcl__decl_8h.html">fcl_decl.h</a></div></div>
<div class="ttc" id="raytrace__utils_8h_html"><div class="ttname"><a href="raytrace__utils_8h.html">raytrace_utils.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_aa04315b4bc2bc28d1ced5223a06160d7"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#aa04315b4bc2bc28d1ced5223a06160d7">collision::RectangleOBB::r</a></div><div class="ttdeci">Eigen::Vector2d r() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00071">rectangle_obb.cc:71</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_ad2b8994c5daeaab71cb04a73a6de8b0f"><div class="ttname"><a href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">collision::Shape::radius</a></div><div class="ttdeci">double radius() const</div><div class="ttdoc">Get radius.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00027">shape.cc:27</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2b5dca59c8add0c53926a42a913ea9fb"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2b5dca59c8add0c53926a42a913ea9fb">collision::RectangleOBB::set_local_y_axis</a></div><div class="ttdeci">void set_local_y_axis(const Eigen::Vector2d &amp;y_axis)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00093">rectangle_obb.cc:93</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a0dab84cbeaa143014b0b84557c6cfa1a"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a0dab84cbeaa143014b0b84557c6cfa1a">collision::RectangleOBB::type_</a></div><div class="ttdeci">static constexpr ShapeType type_</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00117">rectangle_obb.h:117</a></div></div>
<div class="ttc" id="namespacecollision_html_ad1b9e0627f58ff6e988d3d1f3b3537a3"><div class="ttname"><a href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">collision::ShapeType</a></div><div class="ttdeci">ShapeType</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00012">shape.h:12</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a306345177177a000bc480b3867e8113a"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a306345177177a000bc480b3867e8113a">collision::RectangleOBB::r_</a></div><div class="ttdeci">Eigen::Vector2d r_</div><div class="ttdoc">Positive halfwidth extents of OBB along each axis.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00115">rectangle_obb.h:115</a></div></div>
<div class="ttc" id="classcollision_1_1_line_segment_html"><div class="ttname"><a href="classcollision_1_1_line_segment.html">collision::LineSegment</a></div><div class="ttdef"><b>Definition:</b> <a href="line__segment_8h_source.html#l00019">line_segment.h:19</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2730304a6cc511eaeae9d1f37b378155"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2730304a6cc511eaeae9d1f37b378155">collision::RectangleOBB::set_r_x</a></div><div class="ttdeci">void set_r_x(double _r_x)</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00098">rectangle_obb.cc:98</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html"><div class="ttname"><a href="classcollision_1_1_shape.html">collision::Shape</a></div><div class="ttdoc">Base prototype for the shape of an obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00024">shape.h:24</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_aedc9a67415d132222cc2a3035b7ff30c"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">collision::RectangleOBB::clone</a></div><div class="ttdeci">virtual RectangleOBB * clone() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00041">rectangle_obb.cc:41</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a95730f2c860668929a2a1b50a128ba9d"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">collision::RectangleOBB::print</a></div><div class="ttdeci">void print(std::ostringstream &amp;stream) const</div><div class="ttdoc">Print all parameters of the shape.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00053">rectangle_obb.cc:53</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a55b9c562ee0e3eb46556192e445bed2b"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a55b9c562ee0e3eb46556192e445bed2b">collision::RectangleOBB::RectangleOBB</a></div><div class="ttdeci">RectangleOBB(double _r_x, double _r_y, Eigen::Matrix2d _local_axes, const Eigen::Vector2d &amp;_center=Eigen::Vector2d(0, 0))</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00037">rectangle_obb.h:37</a></div></div>
<div class="ttc" id="namespacecollision_1_1serialize_html_aea63e6d672588912102de4dbfc13ba19"><div class="ttname"><a href="namespacecollision_1_1serialize.html#aea63e6d672588912102de4dbfc13ba19">collision::serialize::serialize</a></div><div class="ttdeci">int serialize(const test::BroadphaseFailureCCObj &amp;bf_object, std::ostream &amp;output_stream, const char *format=SERIALIZER_DEFAULT_FORMAT)</div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a690571543f14979499df6fbada671f1f"><div class="ttname"><a href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">collision::Shape::center_x</a></div><div class="ttdeci">double center_x() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00018">shape.cc:18</a></div></div>
<div class="ttc" id="rectangle__obb_8h_html"><div class="ttname"><a href="rectangle__obb_8h.html">rectangle_obb.h</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a59a86900106365857ad6df33f72540c1"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a59a86900106365857ad6df33f72540c1">collision::RectangleOBB::segments</a></div><div class="ttdeci">std::vector&lt; LineSegment &gt; segments(void) const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8h_source.html#l00099">rectangle_obb.h:99</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aabac3270d60bb5affed693af36fd39d8"><div class="ttname"><a href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">collision::Shape::center_y</a></div><div class="ttdeci">double center_y() const</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00020">shape.cc:20</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a5cfea2e440f65accfb67cd78e724a24f"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a5cfea2e440f65accfb67cd78e724a24f">collision::RectangleOBB::local_x_axis</a></div><div class="ttdeci">Eigen::Vector2d local_x_axis() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00063">rectangle_obb.cc:63</a></div></div>
<div class="ttc" id="fcl__decl_8h_html_aad95ebc253961dedf89f356c9823fb65"><div class="ttname"><a href="fcl__decl_8h.html#aad95ebc253961dedf89f356c9823fb65">FCL_HEIGHT</a></div><div class="ttdeci">#define FCL_HEIGHT</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00017">fcl_decl.h:17</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_a3a397b619573e160d18954605a11f7bd"><div class="ttname"><a href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">collision::Shape::center_</a></div><div class="ttdeci">Eigen::Vector2d center_</div><div class="ttdef"><b>Definition:</b> <a href="shape_8h_source.html#l00071">shape.h:71</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a62c69f93584a09fcc31eeccb1f2a112e"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a62c69f93584a09fcc31eeccb1f2a112e">collision::RectangleOBB::local_axes</a></div><div class="ttdeci">Eigen::Matrix2d local_axes() const</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00061">rectangle_obb.cc:61</a></div></div>
<div class="ttc" id="classcollision_1_1_shape_html_aca9a2f6e0de0822e241e39dad9c419ce"><div class="ttname"><a href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">collision::Shape::center</a></div><div class="ttdeci">Eigen::Vector2d center() const</div><div class="ttdoc">Get geometric center of shape.</div><div class="ttdef"><b>Definition:</b> <a href="shape_8cc_source.html#l00016">shape.cc:16</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_o_b_b_html_a2ddf46a0414316e34c8d1d28726bfb91"><div class="ttname"><a href="classcollision_1_1_rectangle_o_b_b.html#a2ddf46a0414316e34c8d1d28726bfb91">collision::RectangleOBB::rayTrace</a></div><div class="ttdeci">bool rayTrace(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect) const override</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__obb_8cc_source.html#l00025">rectangle_obb.cc:25</a></div></div>
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